Python pybullet.getCameraImage方法代码示例

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def _render(self, mode='human', close=False):
    if mode != "rgb_array":
      return np.array([])
    base_pos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
    view_matrix = self._p.computeViewMatrixFromYawPitchRoll(
        cameraTargetPosition=base_pos,
        distance=self._cam_dist,
        yaw=self._cam_yaw,
        pitch=self._cam_pitch,
        roll=0,
        upAxisIndex=2)
    proj_matrix = self._p.computeProjectionMatrixFOV(
        fov=60, aspect=float(RENDER_WIDTH)/RENDER_HEIGHT,
        nearVal=0.1, farVal=100.0)
    (_, _, px, _, _) = self._p.getCameraImage(
        width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,
        projectionMatrix=proj_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
    rgb_array = np.array(px)
    rgb_array = rgb_array[:, :, :3]
    return rgb_array 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def take_picture(renderer, width=256, height=256, scale=0.001, conn_id=None):
    view_matrix = p.computeViewMatrix(
        [0, 0, -1], [0, 0, 0], [0, -1, 0], physicsClientId=conn_id
    )
    proj_matrix = p.computeProjectionMatrixFOV(
        20, 1, 0.05, 2, physicsClientId=conn_id
    )
    w, h, rgba, depth, mask = p.getCameraImage(
        width=width,
        height=height,
        projectionMatrix=proj_matrix,
        viewMatrix=view_matrix,
        renderer=renderer,
        physicsClientId=conn_id,
    )
    return rgba 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def render(self):
        if np.all(self._rendered_pos == self.camera_pos) and np.all(self._rendered_rot == self.camera_rot):
            return self._rendered

        target = self.camera_pos + np.dot(self.camera_rot, [0, 0, 1.0, 1.0])[0:3]
        up = np.dot(self.camera_rot, [0, -1.0, 0, 1.0])[0:3]
        vm = pb.computeViewMatrix(self.camera_pos, target, up)

        i_arr = pb.getCameraImage(self.im_width, self.im_height, vm, self.pm,
                                  shadow=0,
                                  renderer=pb.ER_TINY_RENDERER)
                                  # renderer=pb.ER_BULLET_HARDWARE_OPENGL)

        # Record the position of the camera, and don't re-render if it hasn't moved.
        self._rendered = i_arr
        self._rendered_pos = self.camera_pos.copy()
        self._rendered_rot = self.camera_rot.copy()

        return i_arr 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def _render(self, mode, close):
        base_pos=[0,0,0]
        if (hasattr(self,'robot')):
            if (hasattr(self.robot,'body_xyz')):
                base_pos = self.robot.body_xyz
        
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=base_pos,
            distance=self._cam_dist,
            yaw=self._cam_yaw,
            pitch=self._cam_pitch,
            roll=0,
            upAxisIndex=2)
        proj_matrix = p.computeProjectionMatrixFOV(
            fov=60, aspect=float(self._render_width)/self._render_height,
            nearVal=0.1, farVal=100.0)
        (_, _, px, _, _) = p.getCameraImage(
        width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
            projectionMatrix=proj_matrix,
            renderer=p.ER_BULLET_HARDWARE_OPENGL
            )
        rgb_array = np.array(px).reshape((self._render_width, self._render_height, -1))
        if close: return None
        rgb_array = rgb_array[:, :, :3]
        return rgb_array 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def render_physics(self):
        robot_pos, _ = p.getBasePositionAndOrientation(self.robot_tracking_id)
        
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=robot_pos,
            distance=self.tracking_camera["distance"],
            yaw=self.tracking_camera["yaw"],
            pitch=self.tracking_camera["pitch"],
            roll=0,
            upAxisIndex=2)
        proj_matrix = p.computeProjectionMatrixFOV(
            fov=60, aspect=float(self._render_width)/self._render_height,
            nearVal=0.1, farVal=100.0)
        with Profiler("render physics: Get camera image"):
            (_, _, px, _, _) = p.getCameraImage(
            width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
                projectionMatrix=proj_matrix,
                renderer=p.ER_TINY_RENDERER
                )
        rgb_array = np.array(px).reshape((self._render_width, self._render_height, -1))
        rgb_array = rgb_array[:, :, :3]
        return rgb_array 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def render_map(self):
        base_pos=[0, 0, -3]
        if (hasattr(self,'robot')):
            if (hasattr(self.robot,'body_xyz')):
                base_pos[0] = self.robot.body_xyz[0]
                base_pos[1] = self.robot.body_xyz[1]
        
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=base_pos,
            distance=35,
            yaw=0,
            pitch=-89,
            roll=0,
            upAxisIndex=2)
        proj_matrix = p.computeProjectionMatrixFOV(
            fov=60, aspect=float(self._render_width)/self._render_height,
            nearVal=0.1, farVal=100.0)
        (_, _, px, _, _) = p.getCameraImage(
        width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
            projectionMatrix=proj_matrix,
            renderer=p.ER_BULLET_HARDWARE_OPENGL
            )
        rgb_array = np.array(px).reshape((self._render_width, self._render_height, -1))
        rgb_array = rgb_array[:, :, :3]
        return rgb_array 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def _render(self, mode, close):
        base_pos=[0,0,0]
        if (hasattr(self,'robot')):
            if (hasattr(self.robot,'body_xyz')):
                base_pos = self.robot.body_xyz
        
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=base_pos,
            distance=self._cam_dist,
            yaw=self._cam_yaw,
            pitch=self._cam_pitch,
            roll=0,
            upAxisIndex=2)
        proj_matrix = p.computeProjectionMatrixFOV(
            fov=60, aspect=float(self._render_width)/self._render_height,
            nearVal=0.1, farVal=100.0)
        (_, _, px, _, _) = p.getCameraImage(
        width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
            projectionMatrix=proj_matrix,
            renderer=p.ER_BULLET_HARDWARE_OPENGL
            )
        rgb_array = np.array(px)
        if close: return None
        rgb_array = rgb_array[:, :, :3]
        return rgb_array 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def render_physics(self):
        robot_pos, _ = p.getBasePositionAndOrientation(self.robot_tracking_id)
        
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=robot_pos,
            distance=self.tracking_camera["distance"],
            yaw=self.tracking_camera["yaw"],
            pitch=self.tracking_camera["pitch"],
            roll=0,
            upAxisIndex=2)
        proj_matrix = p.computeProjectionMatrixFOV(
            fov=60, aspect=float(self._render_width)/self._render_height,
            nearVal=0.1, farVal=100.0)
        with Profiler("render physics: Get camera image"):
            (_, _, px, _, _) = p.getCameraImage(
            width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
                projectionMatrix=proj_matrix,
                renderer=p.ER_TINY_RENDERER
                )
        rgb_array = np.array(px)
        rgb_array = rgb_array[:, :, :3]
        return rgb_array 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def render_map(self):
        base_pos=[0, 0, -3]
        if (hasattr(self,'robot')):
            if (hasattr(self.robot,'body_xyz')):
                base_pos[0] = self.robot.body_xyz[0]
                base_pos[1] = self.robot.body_xyz[1]
        
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=base_pos,
            distance=35,
            yaw=0,
            pitch=-89,
            roll=0,
            upAxisIndex=2)
        proj_matrix = p.computeProjectionMatrixFOV(
            fov=60, aspect=float(self._render_width)/self._render_height,
            nearVal=0.1, farVal=100.0)
        (_, _, px, _, _) = p.getCameraImage(
        width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
            projectionMatrix=proj_matrix,
            renderer=p.ER_BULLET_HARDWARE_OPENGL
            )
        rgb_array = np.array(px)
        rgb_array = rgb_array[:, :, :3]
        return rgb_array 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def _waitForCorrectImageFormat(self):
        """
        INTERNAL METHOD, to be called after the launch of the exctraction
        thread. Blocking method, that will return when the array retrieved from
        the @getCameraImage is not None and corresponds to the current
        resolution
        """
        try:
            assert self.module_process.isAlive()

            while self.getFrame() is None:
                continue

            while True:
                image = self.getFrame()
                if image.shape[1] == self.resolution.width and\
                   image.shape[0] == self.resolution.height:
                    break

        except AssertionError:
            return 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def test(args):	
	p.connect(p.GUI)
	p.setAdditionalSearchPath(pybullet_data.getDataPath())
	fileName = os.path.join("mjcf", args.mjcf)
	print("fileName")
	print(fileName)
	p.loadMJCF(fileName)
	while (1):
		p.stepSimulation()
		p.getCameraImage(320,240)
		time.sleep(0.01) 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def getExtendedObservation(self):

     #camEyePos = [0.03,0.236,0.54]
     #distance = 1.06
     #pitch=-56
     #yaw = 258
     #roll=0
     #upAxisIndex = 2
     #camInfo = p.getDebugVisualizerCamera()
     #print("width,height")
     #print(camInfo[0])
     #print(camInfo[1])
     #print("viewMatrix")
     #print(camInfo[2])
     #print("projectionMatrix")
     #print(camInfo[3])
     #viewMat = camInfo[2]
     #viewMat = p.computeViewMatrixFromYawPitchRoll(camEyePos,distance,yaw, pitch,roll,upAxisIndex)
     viewMat = [-0.5120397806167603, 0.7171027660369873, -0.47284144163131714, 0.0, -0.8589617609977722, -0.42747554183006287, 0.28186774253845215, 0.0, 0.0, 0.5504802465438843, 0.8348482847213745, 0.0, 0.1925382763147354, -0.24935829639434814, -0.4401884973049164, 1.0]
     #projMatrix = camInfo[3]#[0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
     projMatrix = [0.75, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]

     img_arr = p.getCameraImage(width=self._width,height=self._height,viewMatrix=viewMat,projectionMatrix=projMatrix)
     rgb=img_arr[2]
     np_img_arr = np.reshape(rgb, (self._height, self._width, 4))
     self._observation = np_img_arr
     return self._observation 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def _get_observation(self):
    """Return the observation as an image.
    """
    img_arr = p.getCameraImage(width=self._width,
                                      height=self._height,
                                      viewMatrix=self._view_matrix,
                                      projectionMatrix=self._proj_matrix)
    rgb = img_arr[2]
    np_img_arr = np.reshape(rgb, (self._height, self._width, 4))
    return np_img_arr[:, :, :3] 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def capture_image(self):
        width, height, im, depth, seg = p.getCameraImage(64, 64, list(
            self.view_matrix), list(self.projection_matrix), renderer=p.ER_TINY_RENDERER)
        self.depth = depth
        im = np.array(im).reshape([height, width, -1])
        return im[:, :, :3] 

# 需要导入模块: import pybullet [as 别名]
# 或者: from pybullet import getCameraImage [as 别名]
def record_video_frame(self):
        if self.record_video and self.gui:
            frame = np.reshape(p.getCameraImage(width=self.width, height=self.height, renderer=p.ER_BULLET_HARDWARE_OPENGL, physicsClientId=self.id)[2], (self.height, self.width, 4))[:, :, :3]
            # frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
            # self.video_writer.write(frame)